forked from Qortal/Brooklyn
You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
449 lines
11 KiB
449 lines
11 KiB
// SPDX-License-Identifier: GPL-2.0+ |
|
/* |
|
* ADIS16460 IMU driver |
|
* |
|
* Copyright 2019 Analog Devices Inc. |
|
*/ |
|
|
|
#include <linux/delay.h> |
|
#include <linux/module.h> |
|
#include <linux/spi/spi.h> |
|
|
|
#include <linux/iio/iio.h> |
|
#include <linux/iio/imu/adis.h> |
|
|
|
#include <linux/debugfs.h> |
|
|
|
#define ADIS16460_REG_FLASH_CNT 0x00 |
|
#define ADIS16460_REG_DIAG_STAT 0x02 |
|
#define ADIS16460_REG_X_GYRO_LOW 0x04 |
|
#define ADIS16460_REG_X_GYRO_OUT 0x06 |
|
#define ADIS16460_REG_Y_GYRO_LOW 0x08 |
|
#define ADIS16460_REG_Y_GYRO_OUT 0x0A |
|
#define ADIS16460_REG_Z_GYRO_LOW 0x0C |
|
#define ADIS16460_REG_Z_GYRO_OUT 0x0E |
|
#define ADIS16460_REG_X_ACCL_LOW 0x10 |
|
#define ADIS16460_REG_X_ACCL_OUT 0x12 |
|
#define ADIS16460_REG_Y_ACCL_LOW 0x14 |
|
#define ADIS16460_REG_Y_ACCL_OUT 0x16 |
|
#define ADIS16460_REG_Z_ACCL_LOW 0x18 |
|
#define ADIS16460_REG_Z_ACCL_OUT 0x1A |
|
#define ADIS16460_REG_SMPL_CNTR 0x1C |
|
#define ADIS16460_REG_TEMP_OUT 0x1E |
|
#define ADIS16460_REG_X_DELT_ANG 0x24 |
|
#define ADIS16460_REG_Y_DELT_ANG 0x26 |
|
#define ADIS16460_REG_Z_DELT_ANG 0x28 |
|
#define ADIS16460_REG_X_DELT_VEL 0x2A |
|
#define ADIS16460_REG_Y_DELT_VEL 0x2C |
|
#define ADIS16460_REG_Z_DELT_VEL 0x2E |
|
#define ADIS16460_REG_MSC_CTRL 0x32 |
|
#define ADIS16460_REG_SYNC_SCAL 0x34 |
|
#define ADIS16460_REG_DEC_RATE 0x36 |
|
#define ADIS16460_REG_FLTR_CTRL 0x38 |
|
#define ADIS16460_REG_GLOB_CMD 0x3E |
|
#define ADIS16460_REG_X_GYRO_OFF 0x40 |
|
#define ADIS16460_REG_Y_GYRO_OFF 0x42 |
|
#define ADIS16460_REG_Z_GYRO_OFF 0x44 |
|
#define ADIS16460_REG_X_ACCL_OFF 0x46 |
|
#define ADIS16460_REG_Y_ACCL_OFF 0x48 |
|
#define ADIS16460_REG_Z_ACCL_OFF 0x4A |
|
#define ADIS16460_REG_LOT_ID1 0x52 |
|
#define ADIS16460_REG_LOT_ID2 0x54 |
|
#define ADIS16460_REG_PROD_ID 0x56 |
|
#define ADIS16460_REG_SERIAL_NUM 0x58 |
|
#define ADIS16460_REG_CAL_SGNTR 0x60 |
|
#define ADIS16460_REG_CAL_CRC 0x62 |
|
#define ADIS16460_REG_CODE_SGNTR 0x64 |
|
#define ADIS16460_REG_CODE_CRC 0x66 |
|
|
|
struct adis16460_chip_info { |
|
unsigned int num_channels; |
|
const struct iio_chan_spec *channels; |
|
unsigned int gyro_max_val; |
|
unsigned int gyro_max_scale; |
|
unsigned int accel_max_val; |
|
unsigned int accel_max_scale; |
|
}; |
|
|
|
struct adis16460 { |
|
const struct adis16460_chip_info *chip_info; |
|
struct adis adis; |
|
}; |
|
|
|
#ifdef CONFIG_DEBUG_FS |
|
|
|
static int adis16460_show_serial_number(void *arg, u64 *val) |
|
{ |
|
struct adis16460 *adis16460 = arg; |
|
u16 serial; |
|
int ret; |
|
|
|
ret = adis_read_reg_16(&adis16460->adis, ADIS16460_REG_SERIAL_NUM, |
|
&serial); |
|
if (ret) |
|
return ret; |
|
|
|
*val = serial; |
|
|
|
return 0; |
|
} |
|
DEFINE_DEBUGFS_ATTRIBUTE(adis16460_serial_number_fops, |
|
adis16460_show_serial_number, NULL, "0x%.4llx\n"); |
|
|
|
static int adis16460_show_product_id(void *arg, u64 *val) |
|
{ |
|
struct adis16460 *adis16460 = arg; |
|
u16 prod_id; |
|
int ret; |
|
|
|
ret = adis_read_reg_16(&adis16460->adis, ADIS16460_REG_PROD_ID, |
|
&prod_id); |
|
if (ret) |
|
return ret; |
|
|
|
*val = prod_id; |
|
|
|
return 0; |
|
} |
|
DEFINE_DEBUGFS_ATTRIBUTE(adis16460_product_id_fops, |
|
adis16460_show_product_id, NULL, "%llu\n"); |
|
|
|
static int adis16460_show_flash_count(void *arg, u64 *val) |
|
{ |
|
struct adis16460 *adis16460 = arg; |
|
u32 flash_count; |
|
int ret; |
|
|
|
ret = adis_read_reg_32(&adis16460->adis, ADIS16460_REG_FLASH_CNT, |
|
&flash_count); |
|
if (ret) |
|
return ret; |
|
|
|
*val = flash_count; |
|
|
|
return 0; |
|
} |
|
DEFINE_DEBUGFS_ATTRIBUTE(adis16460_flash_count_fops, |
|
adis16460_show_flash_count, NULL, "%lld\n"); |
|
|
|
static int adis16460_debugfs_init(struct iio_dev *indio_dev) |
|
{ |
|
struct adis16460 *adis16460 = iio_priv(indio_dev); |
|
struct dentry *d = iio_get_debugfs_dentry(indio_dev); |
|
|
|
debugfs_create_file_unsafe("serial_number", 0400, |
|
d, adis16460, &adis16460_serial_number_fops); |
|
debugfs_create_file_unsafe("product_id", 0400, |
|
d, adis16460, &adis16460_product_id_fops); |
|
debugfs_create_file_unsafe("flash_count", 0400, |
|
d, adis16460, &adis16460_flash_count_fops); |
|
|
|
return 0; |
|
} |
|
|
|
#else |
|
|
|
static int adis16460_debugfs_init(struct iio_dev *indio_dev) |
|
{ |
|
return 0; |
|
} |
|
|
|
#endif |
|
|
|
static int adis16460_set_freq(struct iio_dev *indio_dev, int val, int val2) |
|
{ |
|
struct adis16460 *st = iio_priv(indio_dev); |
|
int t; |
|
|
|
t = val * 1000 + val2 / 1000; |
|
if (t <= 0) |
|
return -EINVAL; |
|
|
|
t = 2048000 / t; |
|
if (t > 2048) |
|
t = 2048; |
|
|
|
if (t != 0) |
|
t--; |
|
|
|
return adis_write_reg_16(&st->adis, ADIS16460_REG_DEC_RATE, t); |
|
} |
|
|
|
static int adis16460_get_freq(struct iio_dev *indio_dev, int *val, int *val2) |
|
{ |
|
struct adis16460 *st = iio_priv(indio_dev); |
|
uint16_t t; |
|
int ret; |
|
unsigned int freq; |
|
|
|
ret = adis_read_reg_16(&st->adis, ADIS16460_REG_DEC_RATE, &t); |
|
if (ret) |
|
return ret; |
|
|
|
freq = 2048000 / (t + 1); |
|
*val = freq / 1000; |
|
*val2 = (freq % 1000) * 1000; |
|
|
|
return IIO_VAL_INT_PLUS_MICRO; |
|
} |
|
|
|
static int adis16460_read_raw(struct iio_dev *indio_dev, |
|
const struct iio_chan_spec *chan, int *val, int *val2, long info) |
|
{ |
|
struct adis16460 *st = iio_priv(indio_dev); |
|
|
|
switch (info) { |
|
case IIO_CHAN_INFO_RAW: |
|
return adis_single_conversion(indio_dev, chan, 0, val); |
|
case IIO_CHAN_INFO_SCALE: |
|
switch (chan->type) { |
|
case IIO_ANGL_VEL: |
|
*val = st->chip_info->gyro_max_scale; |
|
*val2 = st->chip_info->gyro_max_val; |
|
return IIO_VAL_FRACTIONAL; |
|
case IIO_ACCEL: |
|
*val = st->chip_info->accel_max_scale; |
|
*val2 = st->chip_info->accel_max_val; |
|
return IIO_VAL_FRACTIONAL; |
|
case IIO_TEMP: |
|
*val = 50; /* 50 milli degrees Celsius/LSB */ |
|
return IIO_VAL_INT; |
|
default: |
|
return -EINVAL; |
|
} |
|
case IIO_CHAN_INFO_OFFSET: |
|
*val = 500; /* 25 degrees Celsius = 0x0000 */ |
|
return IIO_VAL_INT; |
|
case IIO_CHAN_INFO_SAMP_FREQ: |
|
return adis16460_get_freq(indio_dev, val, val2); |
|
default: |
|
return -EINVAL; |
|
} |
|
} |
|
|
|
static int adis16460_write_raw(struct iio_dev *indio_dev, |
|
const struct iio_chan_spec *chan, int val, int val2, long info) |
|
{ |
|
switch (info) { |
|
case IIO_CHAN_INFO_SAMP_FREQ: |
|
return adis16460_set_freq(indio_dev, val, val2); |
|
default: |
|
return -EINVAL; |
|
} |
|
} |
|
|
|
enum { |
|
ADIS16460_SCAN_GYRO_X, |
|
ADIS16460_SCAN_GYRO_Y, |
|
ADIS16460_SCAN_GYRO_Z, |
|
ADIS16460_SCAN_ACCEL_X, |
|
ADIS16460_SCAN_ACCEL_Y, |
|
ADIS16460_SCAN_ACCEL_Z, |
|
ADIS16460_SCAN_TEMP, |
|
}; |
|
|
|
#define ADIS16460_MOD_CHANNEL(_type, _mod, _address, _si, _bits) \ |
|
{ \ |
|
.type = (_type), \ |
|
.modified = 1, \ |
|
.channel2 = (_mod), \ |
|
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ |
|
.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \ |
|
.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ |
|
.address = (_address), \ |
|
.scan_index = (_si), \ |
|
.scan_type = { \ |
|
.sign = 's', \ |
|
.realbits = (_bits), \ |
|
.storagebits = (_bits), \ |
|
.endianness = IIO_BE, \ |
|
}, \ |
|
} |
|
|
|
#define ADIS16460_GYRO_CHANNEL(_mod) \ |
|
ADIS16460_MOD_CHANNEL(IIO_ANGL_VEL, IIO_MOD_ ## _mod, \ |
|
ADIS16460_REG_ ## _mod ## _GYRO_LOW, ADIS16460_SCAN_GYRO_ ## _mod, \ |
|
32) |
|
|
|
#define ADIS16460_ACCEL_CHANNEL(_mod) \ |
|
ADIS16460_MOD_CHANNEL(IIO_ACCEL, IIO_MOD_ ## _mod, \ |
|
ADIS16460_REG_ ## _mod ## _ACCL_LOW, ADIS16460_SCAN_ACCEL_ ## _mod, \ |
|
32) |
|
|
|
#define ADIS16460_TEMP_CHANNEL() { \ |
|
.type = IIO_TEMP, \ |
|
.indexed = 1, \ |
|
.channel = 0, \ |
|
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ |
|
BIT(IIO_CHAN_INFO_SCALE) | \ |
|
BIT(IIO_CHAN_INFO_OFFSET), \ |
|
.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ |
|
.address = ADIS16460_REG_TEMP_OUT, \ |
|
.scan_index = ADIS16460_SCAN_TEMP, \ |
|
.scan_type = { \ |
|
.sign = 's', \ |
|
.realbits = 16, \ |
|
.storagebits = 16, \ |
|
.endianness = IIO_BE, \ |
|
}, \ |
|
} |
|
|
|
static const struct iio_chan_spec adis16460_channels[] = { |
|
ADIS16460_GYRO_CHANNEL(X), |
|
ADIS16460_GYRO_CHANNEL(Y), |
|
ADIS16460_GYRO_CHANNEL(Z), |
|
ADIS16460_ACCEL_CHANNEL(X), |
|
ADIS16460_ACCEL_CHANNEL(Y), |
|
ADIS16460_ACCEL_CHANNEL(Z), |
|
ADIS16460_TEMP_CHANNEL(), |
|
IIO_CHAN_SOFT_TIMESTAMP(7) |
|
}; |
|
|
|
static const struct adis16460_chip_info adis16460_chip_info = { |
|
.channels = adis16460_channels, |
|
.num_channels = ARRAY_SIZE(adis16460_channels), |
|
/* |
|
* storing the value in rad/degree and the scale in degree |
|
* gives us the result in rad and better precession than |
|
* storing the scale directly in rad. |
|
*/ |
|
.gyro_max_val = IIO_RAD_TO_DEGREE(200 << 16), |
|
.gyro_max_scale = 1, |
|
.accel_max_val = IIO_M_S_2_TO_G(20000 << 16), |
|
.accel_max_scale = 5, |
|
}; |
|
|
|
static const struct iio_info adis16460_info = { |
|
.read_raw = &adis16460_read_raw, |
|
.write_raw = &adis16460_write_raw, |
|
.update_scan_mode = adis_update_scan_mode, |
|
.debugfs_reg_access = adis_debugfs_reg_access, |
|
}; |
|
|
|
static int adis16460_enable_irq(struct adis *adis, bool enable) |
|
{ |
|
/* |
|
* There is no way to gate the data-ready signal internally inside the |
|
* ADIS16460 :( |
|
*/ |
|
if (enable) |
|
enable_irq(adis->spi->irq); |
|
else |
|
disable_irq(adis->spi->irq); |
|
|
|
return 0; |
|
} |
|
|
|
#define ADIS16460_DIAG_STAT_IN_CLK_OOS 7 |
|
#define ADIS16460_DIAG_STAT_FLASH_MEM 6 |
|
#define ADIS16460_DIAG_STAT_SELF_TEST 5 |
|
#define ADIS16460_DIAG_STAT_OVERRANGE 4 |
|
#define ADIS16460_DIAG_STAT_SPI_COMM 3 |
|
#define ADIS16460_DIAG_STAT_FLASH_UPT 2 |
|
|
|
static const char * const adis16460_status_error_msgs[] = { |
|
[ADIS16460_DIAG_STAT_IN_CLK_OOS] = "Input clock out of sync", |
|
[ADIS16460_DIAG_STAT_FLASH_MEM] = "Flash memory failure", |
|
[ADIS16460_DIAG_STAT_SELF_TEST] = "Self test diagnostic failure", |
|
[ADIS16460_DIAG_STAT_OVERRANGE] = "Sensor overrange", |
|
[ADIS16460_DIAG_STAT_SPI_COMM] = "SPI communication failure", |
|
[ADIS16460_DIAG_STAT_FLASH_UPT] = "Flash update failure", |
|
}; |
|
|
|
static const struct adis_timeout adis16460_timeouts = { |
|
.reset_ms = 225, |
|
.sw_reset_ms = 225, |
|
.self_test_ms = 10, |
|
}; |
|
|
|
static const struct adis_data adis16460_data = { |
|
.diag_stat_reg = ADIS16460_REG_DIAG_STAT, |
|
.glob_cmd_reg = ADIS16460_REG_GLOB_CMD, |
|
.prod_id_reg = ADIS16460_REG_PROD_ID, |
|
.prod_id = 16460, |
|
.self_test_mask = BIT(2), |
|
.self_test_reg = ADIS16460_REG_GLOB_CMD, |
|
.has_paging = false, |
|
.read_delay = 5, |
|
.write_delay = 5, |
|
.cs_change_delay = 16, |
|
.status_error_msgs = adis16460_status_error_msgs, |
|
.status_error_mask = BIT(ADIS16460_DIAG_STAT_IN_CLK_OOS) | |
|
BIT(ADIS16460_DIAG_STAT_FLASH_MEM) | |
|
BIT(ADIS16460_DIAG_STAT_SELF_TEST) | |
|
BIT(ADIS16460_DIAG_STAT_OVERRANGE) | |
|
BIT(ADIS16460_DIAG_STAT_SPI_COMM) | |
|
BIT(ADIS16460_DIAG_STAT_FLASH_UPT), |
|
.enable_irq = adis16460_enable_irq, |
|
.timeouts = &adis16460_timeouts, |
|
}; |
|
|
|
static int adis16460_probe(struct spi_device *spi) |
|
{ |
|
struct iio_dev *indio_dev; |
|
struct adis16460 *st; |
|
int ret; |
|
|
|
indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st)); |
|
if (indio_dev == NULL) |
|
return -ENOMEM; |
|
|
|
spi_set_drvdata(spi, indio_dev); |
|
|
|
st = iio_priv(indio_dev); |
|
|
|
st->chip_info = &adis16460_chip_info; |
|
indio_dev->name = spi_get_device_id(spi)->name; |
|
indio_dev->channels = st->chip_info->channels; |
|
indio_dev->num_channels = st->chip_info->num_channels; |
|
indio_dev->info = &adis16460_info; |
|
indio_dev->modes = INDIO_DIRECT_MODE; |
|
|
|
ret = adis_init(&st->adis, indio_dev, spi, &adis16460_data); |
|
if (ret) |
|
return ret; |
|
|
|
ret = devm_adis_setup_buffer_and_trigger(&st->adis, indio_dev, NULL); |
|
if (ret) |
|
return ret; |
|
|
|
adis16460_enable_irq(&st->adis, 0); |
|
|
|
ret = __adis_initial_startup(&st->adis); |
|
if (ret) |
|
return ret; |
|
|
|
ret = devm_iio_device_register(&spi->dev, indio_dev); |
|
if (ret) |
|
return ret; |
|
|
|
adis16460_debugfs_init(indio_dev); |
|
|
|
return 0; |
|
} |
|
|
|
static const struct spi_device_id adis16460_ids[] = { |
|
{ "adis16460", 0 }, |
|
{} |
|
}; |
|
MODULE_DEVICE_TABLE(spi, adis16460_ids); |
|
|
|
static const struct of_device_id adis16460_of_match[] = { |
|
{ .compatible = "adi,adis16460" }, |
|
{} |
|
}; |
|
MODULE_DEVICE_TABLE(of, adis16460_of_match); |
|
|
|
static struct spi_driver adis16460_driver = { |
|
.driver = { |
|
.name = "adis16460", |
|
.of_match_table = adis16460_of_match, |
|
}, |
|
.id_table = adis16460_ids, |
|
.probe = adis16460_probe, |
|
}; |
|
module_spi_driver(adis16460_driver); |
|
|
|
MODULE_AUTHOR("Dragos Bogdan <[email protected]>"); |
|
MODULE_DESCRIPTION("Analog Devices ADIS16460 IMU driver"); |
|
MODULE_LICENSE("GPL");
|
|
|